Cangelosi, Prof Angelo and Massera, Gianluca and Nolfi, Stefano (2007) Evolution of Prehension Ability in an Anthropomorphic Neurorobotic Arm. [Journal (Paginated)]
Full text available as:
|
PDF
- Published Version
577Kb |
Abstract
In this paper we show how a simulated anthropomorphic robotic arm controlled by an artificial neural network can develop effective reaching and grasping behaviour through a trial and error process in which the free parameters encode the control rules which regulate the fine-grained interaction between the robot and the environment and variations of the free parameters are retained or discarded on the basis of their effects at the level of the global behaviour exhibited by the robot situated in the environment. The obtained results demonstrate how the proposed methodology allows the robot to produce effective behaviours thanks to its ability to exploit the morphological properties of the robot’s body (i.e. its anthropomorphic shape, the elastic properties of its muscle-like actuators, and the compliance of its actuated joints) and the properties which arise from the physical interaction between the robot and the environment mediated by appropriate control rules.
Item Type: | Journal (Paginated) |
---|---|
Keywords: | Robotic arm, reaching and grasping, adaptation, evolutionary robotics |
Subjects: | Neuroscience > Neural Modelling Computer Science > Dynamical Systems Computer Science > Robotics Computer Science > Neural Nets Computer Science > Artificial Intelligence |
ID Code: | 6237 |
Deposited By: | Cangelosi, Professor Angelo |
Deposited On: | 22 Oct 2008 01:17 |
Last Modified: | 11 Mar 2011 08:57 |
References in Article
Select the SEEK icon to attempt to find the referenced article. If it does not appear to be in cogprints you will be forwarded to the paracite service. Poorly formated references will probably not work.
Metadata
- ASCII Citation
- Atom
- BibTeX
- Dublin Core
- EP3 XML
- EPrints Application Profile (experimental)
- EndNote
- HTML Citation
- ID Plus Text Citation
- JSON
- METS
- MODS
- MPEG-21 DIDL
- OpenURL ContextObject
- OpenURL ContextObject in Span
- RDF+N-Triples
- RDF+N3
- RDF+XML
- Refer
- Reference Manager
- Search Data Dump
- Simple Metadata
- YAML
Repository Staff Only: item control page